図2-1 End-effector-based robotic rehabilitaion systems Ruiらの論文から改訂 年代 Developter Reference 時期 Type segment DOF assisted Act 3D 2005 Northwester University, USA Sukal et al. Single-point, unilateral Shoulder ＋ elbow 3 active DOF, 3D space ADLER 2006 Medical College of Wisconsin, USA Johnson et al. Single-point, bilateral Shoulder ＋ elbow ＋ forearm ＋ wrist 3 active, 3 passive DOF, 3D space ARM-Guide 1999 Reinkensmeyer, et al. 1 active DOF, 2D space Bi-Manu- Track 2003 Klinik-Berlin/Charite Hospital Germany Hesse et al. Subacute Multi-robot, bilateral Forearm ＋ wrist 1 active DOF at one time Braccio di Ferro University of Genova, Italy Casadio et al. 2 active DOF, 2D space Driver SEAT Rehab Research Development Center at VA, Palo Alto, USA Steering wheel, bilateral Shoulder ＋ forearm ＋ wrist ＋ hand Customised car steering wheel interface Gentle/S 2001 University of Reading, UK Loureiro et al. Single- point ＋ wire- based, unilateral 3+1 active, 2 passive DOF, 3D space iPAM 2007 University of Leeds, UK Jackson et al. Multi-robot, unilateral Shoulder ＋ elbow ＋ forearm 5 active DOF, 3D space MEMOS Fondazione Salvatore Maugeri/SSSA, Italy Colombo et al. MIT- MANUS (InMotion2) 1992 Massachusetts Institute of Technology/ Interactive Motion Technologies, USA Hogan et al. Krebs et al. 1998 Chronic MIT- MANUS (InMotion3) Celestino et al. 3 active DOF Java Therapy University of California, Irvine, USA Reinkensmeyer et al. Joystick, unilateral Wrist MIME Lum et al. Single- point + digitiser bilateral Shoulder + elbow NeReBot University of Padova, Italy Masiero et al. Acute Wire-based, unilateral REHAROB 2004 Budapest University of Technology and Economics, Hungary Toth et al. Shoulder + elbow + forearm Swedish Helparm Kinsman Enterprises, Inc., USA Kinsman Enterprises Wire-based, unilateral/ bilateral Upper arm or forearm 2 passive (unilateral)

図2-2 Exoskeleton based robotic rehabilitation systems Ruiらの論文から改訂 プロジェクト名 年代 開発者 著者 型 部位 関節自由度 ARMin 2005 ETH, Zurich, Switzerland Nef et al. Fixed exoskeleton, unilateral Shoulder ＋ elbow 4 active, 2 passive DOF Dampace 2007 University of Twente, The Netherlands Amo et al. 5 passive DOF (3 shoulder, 2 elbow) Hand Mentor 2004 Kinectic Muscles, Inc. USA Koeneman et al. Portable, partial exoskeleton, unilateral Wrist ＋ hand 2 active (wrist and fingers flex-extension) HWARD University of California, Irvine, USA Takahashi et al. Fixed, partial exoskeleton, unilateral 3 active (1 wrist, 1 fingers MCP, 1 thumb) KIST Korea Institute of Science and Technology, Korea Kim et al. Portable, exoskeleton, bilateral ＋ wrist 7 active, 6 passive DOF L-EXOS (PERCRO) Scuola Superiore Sant’Anna, Italy Montagner et al. 4 active, 1 passive DOF MGA Georgetwon and Maryland Univ., USA Carignan et al. Fixed exoskeleton, unilatera Myomo e100 Myomo, Inc., USA Stein et al. Elbow 1 active DOF Pneu- WREX Sanchez et al. Fixed, exoskeleton, unilateral RUPERT Arizona State University, Phoenix, USA He et al. 4 active DOF (1 shoulder, 1 elbow, 1 forearm,1 wrist) Rutgers Master II 2006 Rutgers, State University New Jersey, USA Merians et al. Partial exoskeleton, unilateral Hand 4 active DOF (1 thumb, 3 fingers) T-WREX 5 passive DOF (3 shoulder, 2 elbow) DOF:Degree Of Freedom, 関節自由度

図３−１　Masieroらの論文から抜粋　

図３−２　Mehrholzら の論文による抜粋